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mc_pos_control: use defines for point size and number of points in

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trajectory_waypoint
This commit is contained in:
Martina 2018-04-06 08:53:13 +02:00 committed by Daniel Agar
parent c84e651edd
commit 9bdc9aada2
1 changed files with 2 additions and 5 deletions
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7
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -3579,9 +3579,8 @@ void MulticopterPositionControl::update_avoidance_waypoint_desired(const int poi
void
MulticopterPositionControl::reset_avoidance_waypoint_desired()
{
const int point_size = 11;
for (int i = 0; i < point_size; ++i) {
for (int i = 0; i < trajectory_waypoint_s::POINT_SIZE; ++i) {
_traj_wp_avoidance_desired.point_0[i] = NAN;
_traj_wp_avoidance_desired.point_1[i] = NAN;
_traj_wp_avoidance_desired.point_2[i] = NAN;
@ -3589,9 +3588,7 @@ MulticopterPositionControl::reset_avoidance_waypoint_desired()
_traj_wp_avoidance_desired.point_4[i] = NAN;
}
const int number_points = 5;
for (int i = 0; i < number_points; ++i) {
for (int i = 0; i < trajectory_waypoint_s::NUMBER_POINTS; ++i) {
_traj_wp_avoidance_desired.point_valid[i] = 0;
}
}